Simple structure from motion implementation using CameraEC , MarkerDetectorEC and TrackerFeaturesEC. More...

#include <SfM.h>

Classes
class	Feature
	Extended version of ExternalContainer structure used internally in SimpleSfM. More...

Public Member Functions
void	AddMarker (int marker_id, double edge_length, Pose &pose)
	Add an marker to be a basis for tracking. It is good idea to call SetResetPoint after these. More...

bool	AddMultiMarker (const char *fname, FILE_FORMAT format=FILE_FORMAT_XML)
	Add MultiMarker from file as a basis for tracking. It is good idea to call SetResetPoint after these. More...

bool	AddMultiMarker (MultiMarkerEC *mm)
	Add MultiMarker to be a basis for tracking. It is good idea to call SetResetPoint after these. More...

void	Clear ()
	Clear all tracked features. More...

void	Draw (IplImage *rgba)
	Draw debug information about the tracked features and detected markers. More...

CameraEC *	GetCamera ()
	Get the camera used internally. You need to use this to set correct camera calibration (see SamplePointcloud) More...

Pose *	GetPose ()
	Get the estimated pose. More...

void	Reset (bool reset_also_triangulated=true)
	Reset the situation back to the point it was when SetResetPoint was called. More...

void	SetResetPoint ()
	Remember the current state and return here when the Reset is called. More...

void	SetScale (double s)
	Set the suitable scale to be used. This affects quite much how the tracking behaves (when features are triangulated etc.) More...

	SimpleSfM ()
	Constructor. More...

bool	Update (IplImage *image, bool assume_plane=true, bool triangulate=true, float reproj_err_limit=5.f, float triangulate_angle=15.f)
	Update position assuming that camera is moving with 6-DOF. More...

bool	UpdateRotationsOnly (IplImage *image)
	Update position assuming that user is more standing still and viewing the environment. More...

bool	UpdateTriangulateOnly (IplImage *image)
	Update camera 6-DOF position using triangulated points only (This is the old version of Update) More...

Public Attributes
std::map< int, Feature >	container
	The map of all tracked features. More...

std::map< int, Feature >	container_triangulated

Protected Attributes
CameraEC	cam

std::map< int, Feature >	container_reset_point

std::map< int, Feature >	container_triangulated_reset_point

MarkerDetectorEC< MarkerData >	marker_detector

bool	markers_found

std::string	multi_marker_file

Pose	pose

Pose	pose_difference

bool	pose_ok

Pose	pose_original

double	scale

TrackerFeaturesEC	tf

bool	update_tri

Detailed Description

Simple structure from motion implementation using CameraEC , MarkerDetectorEC and TrackerFeaturesEC.

See SamplePointcloud for usage example.

Examples:: SamplePointcloud.cpp.

Definition at line 41 of file SfM.h.

Constructor & Destructor Documentation

alvar::SimpleSfM::SimpleSfM ( )

inline

Constructor.

Definition at line 93 of file SfM.h.

Member Function Documentation

void alvar::SimpleSfM::AddMarker	(	int	marker_id,
		double	edge_length,
		Pose &	pose
	)

Add an marker to be a basis for tracking. It is good idea to call SetResetPoint after these.

Examples:: SamplePointcloud.cpp.

Definition at line 98 of file SfM.cpp.

bool alvar::SimpleSfM::AddMultiMarker	(	const char *	fname,
		FILE_FORMAT	format = `FILE_FORMAT_XML`
	)

Add MultiMarker from file as a basis for tracking. It is good idea to call SetResetPoint after these.

Examples:: SamplePointcloud.cpp.

Definition at line 89 of file SfM.cpp.

bool alvar::SimpleSfM::AddMultiMarker ( MultiMarkerEC * mm )

Add MultiMarker to be a basis for tracking. It is good idea to call SetResetPoint after these.

Definition at line 94 of file SfM.cpp.

void alvar::SimpleSfM::Clear ( )

Clear all tracked features.

Examples:: SamplePointcloud.cpp.

Definition at line 81 of file SfM.cpp.

void alvar::SimpleSfM::Draw ( IplImage * rgba )

Draw debug information about the tracked features and detected markers.

Examples:: SamplePointcloud.cpp.

Definition at line 456 of file SfM.cpp.

CameraEC * alvar::SimpleSfM::GetCamera ( )

Get the camera used internally. You need to use this to set correct camera calibration (see SamplePointcloud)

Examples:: SamplePointcloud.cpp.

Definition at line 85 of file SfM.cpp.

Pose * alvar::SimpleSfM::GetPose ( )

Get the estimated pose.

Examples:: SamplePointcloud.cpp.

Definition at line 87 of file SfM.cpp.

void alvar::SimpleSfM::Reset ( bool reset_also_triangulated = true )

Reset the situation back to the point it was when SetResetPoint was called.

Examples:: SamplePointcloud.cpp.

Definition at line 66 of file SfM.cpp.

void alvar::SimpleSfM::SetResetPoint ( )

Remember the current state and return here when the Reset is called.

Examples:: SamplePointcloud.cpp.

Definition at line 76 of file SfM.cpp.

void alvar::SimpleSfM::SetScale ( double s )

inline

Set the suitable scale to be used. This affects quite much how the tracking behaves (when features are triangulated etc.)

Examples:: SamplePointcloud.cpp.

Definition at line 101 of file SfM.h.

bool alvar::SimpleSfM::Update	(	IplImage *	image,
		bool	assume_plane = `true`,
		bool	triangulate = `true`,
		float	reproj_err_limit = `5.f`,
		float	triangulate_angle = `15.f`
	)

Update position assuming that camera is moving with 6-DOF.

Examples:: SamplePointcloud.cpp.

Definition at line 154 of file SfM.cpp.

bool alvar::SimpleSfM::UpdateRotationsOnly ( IplImage * image )

Update position assuming that user is more standing still and viewing the environment.

Definition at line 384 of file SfM.cpp.

bool alvar::SimpleSfM::UpdateTriangulateOnly ( IplImage * image )

Update camera 6-DOF position using triangulated points only (This is the old version of Update)

Definition at line 339 of file SfM.cpp.

Member Data Documentation

CameraEC alvar::SimpleSfM::cam

protected

Definition at line 78 of file SfM.h.

std::map<int, Feature> alvar::SimpleSfM::container

The map of all tracked features.

Examples:: SamplePointcloud.cpp.

Definition at line 71 of file SfM.h.

std::map<int, Feature> alvar::SimpleSfM::container_reset_point

protected

Definition at line 75 of file SfM.h.

std::map<int, Feature> alvar::SimpleSfM::container_triangulated

Examples:: SamplePointcloud.cpp.

Definition at line 72 of file SfM.h.

std::map<int, Feature> alvar::SimpleSfM::container_triangulated_reset_point

protected

Definition at line 76 of file SfM.h.

MarkerDetectorEC<MarkerData> alvar::SimpleSfM::marker_detector

protected

Definition at line 79 of file SfM.h.

bool alvar::SimpleSfM::markers_found

protected

Definition at line 86 of file SfM.h.

std::string alvar::SimpleSfM::multi_marker_file

protected

Definition at line 85 of file SfM.h.

Pose alvar::SimpleSfM::pose

protected

Definition at line 81 of file SfM.h.

Pose alvar::SimpleSfM::pose_difference

protected

Definition at line 89 of file SfM.h.

bool alvar::SimpleSfM::pose_ok

protected

Definition at line 82 of file SfM.h.

Pose alvar::SimpleSfM::pose_original

protected

Definition at line 88 of file SfM.h.

double alvar::SimpleSfM::scale

protected

Definition at line 87 of file SfM.h.

TrackerFeaturesEC alvar::SimpleSfM::tf

protected

Definition at line 80 of file SfM.h.

bool alvar::SimpleSfM::update_tri

protected

Definition at line 84 of file SfM.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation